OpenRaiser/Intern-Atlas huggingface dataset:
External-Wrench Estimation for Aerial Robots Exploiting a Learned Model
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a first-principles model and a neural network. This framework addresses one of the limitations of the state-of-the-art model-based wrench observers: the wrench estimation of these observers comprises the external wrench (e.g. collision, physical interaction, wind); in addition to residual wrench (e.g. model parameters uncertainty or unmodeled dynamics). This is a problem if these wrench estimations are to be used as wrench feedback to a force controller, for example. In the proposed framework, a neural network is combined with a first-principles model to estimate the residual dynamics arising from unmodeled dynamics and parameters uncertainties, then, the hybrid trained model is used to estimate the external wrench, leading to a wrench estimation that has smaller contributions from the residual dynamics, and affected more by the external wrench. This method is validated with numerical simulations of an aerial robot in different flying scenarios and different types of residual dynamics, and the statistical analysis of the results shows that the wrench estimation error has improved significantly compared to a model-based wrench observer using only a first-principles model.
Learning Object Focused Attention
Venue: arXiv cs.CV 2025
Year: 2025

We propose an adaptation to the training of Vision Transformers (ViTs) that allows for an explicit modeling of objects during the attention computation. This is achieved by adding a new branch to selected attention layers that computes an auxiliary loss which we call the object-focused attention (OFA) loss. We restrict the attention to image patches that belong to the same object class, which allows ViTs to gain a better understanding of configural (or holistic) object shapes by focusing on intra-object patches instead of other patches such as those in the background. Our proposed inductive bias fits easily into the attention framework of transformers since it only adds an auxiliary loss over selected attention layers. Furthermore, our approach has no additional overhead during inference. We also experiment with multiscale masking to further improve the performance of our OFA model and give a path forward for self-supervised learning with our method. Our experimental results demonstrate that ViTs with OFA achieve better classification results than their base models, exhibit a stronger generalization ability to out-of-distribution (OOD) and adversarially corrupted images, and learn representations based on object shapes rather than spurious correlations via general textures. For our OOD setting, we generate a novel dataset using the COCO dataset and Stable Diffusion inpainting which we plan to share with the community.
An open framework for archival, reproducible, and transparent science
Venue: arXiv cs.DL 2025
Year: 2025

Digital computational outputs are now ubiquitous in the research workflow and the way in which these data are stored and cataloged is becoming more standardized across fields of research. However, even with accessible data and code, the barrier to recreating figures and reproducing scientific findings remains high. What is generally missing is the computational environment and associated pipelines in which the data and code are executed to generate figures. The archival, reproducible, and transparent science (ARTS) open framework incorporates containers, version control systems, and persistent archives through which all data, code, and figures related to a research project can be stored together, easily recreated, and serve as an accessible platform for long-term sharing and validation. If the underlying principles behind this framework are broadly adopted, it will improve the reproducibility and transparency of research.
A Vulnerability Code Intent Summary Dataset
Venue: arXiv cs.SE 2025
Year: 2025

In the era of Large Language Models (LLMs), the code summarization technique boosts a lot, along with the emergence of many new significant works. However, the potential of code summarization in the Computer Security Area still remains explored. Can we generate a code summary of a code snippet for its security intention? Thus, this work proposes an innovative large-scale multi-perspective Code Intent Summary Dataset named BADS , aiming to increase the understanding of a given code snippet and reduce the risk in the code developing process. The procedure of establishing a dataset can be divided into four steps: First, we collect samples of codes with known vulnerabilities as well as code generated by AI from multiple sources. Second, we do the data clean and format unification, then do the data combination. Third, we utilize the LLM to automatically Annotate the code snippet. Last, We do the human evaluation to double-check. The dataset contains X code examples which cover Y categories of vulnerability. Our data are from Z open-source projects and CVE entries, and compared to existing work, our dataset not only contains original code but also code function summary and security intent summary, providing context information for research in code security analysis. All information is in CSV format. The contributions of this paper are four-fold: the establishment of a high-quality, multi-perspective Code Intent Summary Dataset; an innovative method in data collection and processing; A new multi-perspective code analysis framework that promotes cross-disciplinary research in the fields of software engineering and cybersecurity; improving the practicality and scalability of the research outcomes by considering the code length limitations in real-world applications. Our dataset and related tools have been publicly released on GitHub.
Detecting Credit Card Fraud via Heterogeneous Graph Neural Networks with Graph Attention
Venue: arXiv cs.LG 2025
Year: 2025

This study proposes a credit card fraud detection method based on Heterogeneous Graph Neural Network (HGNN) to address fraud in complex transaction networks. Unlike traditional machine learning methods that rely solely on numerical features of transaction records, this approach constructs heterogeneous transaction graphs. These graphs incorporate multiple node types, including users, merchants, and transactions. By leveraging graph neural networks, the model captures higher-order transaction relationships. A Graph Attention Mechanism is employed to dynamically assign weights to different transaction relationships. Additionally, a Temporal Decay Mechanism is integrated to enhance the model's sensitivity to time-related fraud patterns. To address the scarcity of fraudulent transaction samples, this study applies SMOTE oversampling and Cost-sensitive Learning. These techniques strengthen the model's ability to identify fraudulent transactions. Experimental results demonstrate that the proposed method outperforms existing GNN models, including GCN, GAT, and GraphSAGE, on the IEEE-CIS Fraud Detection dataset. The model achieves notable improvements in both accuracy and OC-ROC. Future research may explore the integration of dynamic graph neural networks and reinforcement learning. Such advancements could enhance the real-time adaptability of fraud detection systems and provide more intelligent solutions for financial risk control.
Influential Bandits: Pulling an Arm May Change the Environment
Venue: arXiv cs.LG 2025
Year: 2025

While classical formulations of multi-armed bandit problems assume that each arm's reward is independent and stationary, real-world applications often involve non-stationary environments and interdependencies between arms. In particular, selecting one arm may influence the future rewards of other arms, a scenario not adequately captured by existing models such as rotting bandits or restless bandits. To address this limitation, we propose the influential bandit problem, which models inter-arm interactions through an unknown, symmetric, positive semi-definite interaction matrix that governs the dynamics of arm losses. We formally define this problem and establish two regret lower bounds, including a superlinear $Ω(T^2 / \log^2 T)$ bound for the standard LCB algorithm (loss minimization version of UCB) and an algorithm-independent $Ω(T)$ bound, which highlight the inherent difficulty of the setting. We then introduce a new algorithm based on a lower confidence bound (LCB) estimator tailored to the structure of the loss dynamics. Under mild assumptions, our algorithm achieves a regret of $O(KT \log T)$, which is nearly optimal in terms of its dependence on the time horizon. The algorithm is simple to implement and computationally efficient. Empirical evaluations on both synthetic and real-world datasets demonstrate the presence of inter-arm influence and confirm the superior performance of our method compared to conventional bandit algorithms.
II-NVM: Enhancing Map Accuracy and Consistency with Normal Vector-Assisted Mapping
Venue: arXiv cs.RO 2025
Year: 2025

SLAM technology plays a crucial role in indoor mapping and localization. A common challenge in indoor environments is the "double-sided mapping issue", where closely positioned walls, doors, and other surfaces are mistakenly identified as a single plane, significantly hindering map accuracy and consistency. To address this issue this paper introduces a SLAM approach that ensures accurate mapping using normal vector consistency. We enhance the voxel map structure to store both point cloud data and normal vector information, enabling the system to evaluate consistency during nearest neighbor searches and map updates. This process distinguishes between the front and back sides of surfaces, preventing incorrect point-to-plane constraints. Moreover, we implement an adaptive radius KD-tree search method that dynamically adjusts the search radius based on the local density of the point cloud, thereby enhancing the accuracy of normal vector calculations. To further improve realtime performance and storage efficiency, we incorporate a Least Recently Used (LRU) cache strategy, which facilitates efficient incremental updates of the voxel map. The code is released as open-source and validated in both simulated environments and real indoor scenarios. Experimental results demonstrate that this approach effectively resolves the "double-sided mapping issue" and significantly improves mapping precision. Additionally, we have developed and open-sourced the first simulation and real world dataset specifically tailored for the "double-sided mapping issue".
DRAFT-ing Architectural Design Decisions using LLMs
Venue: arXiv cs.SE 2025
Year: 2025

Architectural Knowledge Management (AKM) is crucial for software development but remains challenging due to the lack of standardization and high manual effort. Architecture Decision Records (ADRs) provide a structured approach to capture Architecture Design Decisions (ADDs), but their adoption is limited due to the manual effort involved and insufficient tool support. Our previous work has shown that Large Language Models (LLMs) can assist in generating ADDs. However, simply prompting the LLM does not produce quality ADDs. Moreover, using third-party LLMs raises privacy concerns, while self-hosting them poses resource challenges. To this end, we experimented with different approaches like few-shot, retrieval-augmented generation (RAG) and fine-tuning to enhance LLM's ability to generate ADDs. Our results show that both techniques improve effectiveness. Building on this, we propose Domain Specific Retreival Augumented Few Shot Fine Tuninng, DRAFT, which combines the strengths of all these three approaches for more effective ADD generation. DRAFT operates in two phases: an offline phase that fine-tunes an LLM on generating ADDs augmented with retrieved examples and an online phase that generates ADDs by leveraging retrieved ADRs and the fine-tuned model. We evaluated DRAFT against existing approaches on a dataset of 4,911 ADRs and various LLMs and analyzed them using automated metrics and human evaluations. Results show DRAFT outperforms all other approaches in effectiveness while maintaining efficiency. Our findings indicate that DRAFT can aid architects in drafting ADDs while addressing privacy and resource constraints.
How Good Are Large Language Models for Course Recommendation in MOOCs?
Venue: arXiv cs.IR 2025
Year: 2025

Large Language Models (LLMs) have made significant strides in natural language processing and are increasingly being integrated into recommendation systems. However, their potential in educational recommendation systems has yet to be fully explored. This paper investigates the use of LLMs as a general-purpose recommendation model, leveraging their vast knowledge derived from large-scale corpora for course recommendation tasks. We explore a variety of approaches, ranging from prompt-based methods to more advanced fine-tuning techniques, and compare their performance against traditional recommendation models. Extensive experiments were conducted on a real-world MOOC dataset, evaluating using LLMs as course recommendation systems across key dimensions such as accuracy, diversity, and novelty. Our results demonstrate that LLMs can achieve good performance comparable to traditional models, highlighting their potential to enhance educational recommendation systems. These findings pave the way for further exploration and development of LLM-based approaches in the context of educational recommendations.
LLM for Comparative Narrative Analysis
Venue: arXiv cs.CL 2025
Year: 2025

In this paper, we conducted a Multi-Perspective Comparative Narrative Analysis (CNA) on three prominent LLMs: GPT-3.5, PaLM2, and Llama2. We applied identical prompts and evaluated their outputs on specific tasks, ensuring an equitable and unbiased comparison between various LLMs. Our study revealed that the three LLMs generated divergent responses to the same prompt, indicating notable discrepancies in their ability to comprehend and analyze the given task. Human evaluation was used as the gold standard, evaluating four perspectives to analyze differences in LLM performance.
RealCam-Vid: High-resolution Video Dataset with Dynamic Scenes and Metric-scale Camera Movements
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in camera-controllable video generation have been constrained by the reliance on static-scene datasets with relative-scale camera annotations, such as RealEstate10K. While these datasets enable basic viewpoint control, they fail to capture dynamic scene interactions and lack metric-scale geometric consistency-critical for synthesizing realistic object motions and precise camera trajectories in complex environments. To bridge this gap, we introduce the first fully open-source, high-resolution dynamic-scene dataset with metric-scale camera annotations in https://github.com/ZGCTroy/RealCam-Vid.
F$^3$Set: Towards Analyzing Fast, Frequent, and Fine-grained Events from Videos
Venue: arXiv cs.CV 2025
Year: 2025

Analyzing Fast, Frequent, and Fine-grained (F$^3$) events presents a significant challenge in video analytics and multi-modal LLMs. Current methods struggle to identify events that satisfy all the F$^3$ criteria with high accuracy due to challenges such as motion blur and subtle visual discrepancies. To advance research in video understanding, we introduce F$^3$Set, a benchmark that consists of video datasets for precise F$^3$ event detection. Datasets in F$^3$Set are characterized by their extensive scale and comprehensive detail, usually encompassing over 1,000 event types with precise timestamps and supporting multi-level granularity. Currently, F$^3$Set contains several sports datasets, and this framework may be extended to other applications as well. We evaluated popular temporal action understanding methods on F$^3$Set, revealing substantial challenges for existing techniques. Additionally, we propose a new method, F$^3$ED, for F$^3$ event detections, achieving superior performance. The dataset, model, and benchmark code are available at https://github.com/F3Set/F3Set.
Jupiter: Fast and Resource-Efficient Collaborative Inference of Generative LLMs on Edge Devices
Venue: arXiv cs.DC 2025
Year: 2025

Generative large language models (LLMs) have garnered significant attention due to their exceptional capabilities in various AI tasks. Traditionally deployed in cloud datacenters, LLMs are now increasingly moving towards more accessible edge platforms to protect sensitive user data and ensure privacy preservation. The limited computational resources of individual edge devices, however, can result in excessively prolonged inference latency and overwhelmed memory usage. While existing research has explored collaborative edge computing to break the resource wall of individual devices, these solutions yet suffer from massive communication overhead and under-utilization of edge resources. Furthermore, they focus exclusively on optimizing the prefill phase, neglecting the crucial autoregressive decoding phase for generative LLMs. To address that, we propose Jupiter, a fast, scalable, and resource-efficient collaborative edge AI system for generative LLM inference. Jupiter introduces a flexible pipelined architecture as a principle and differentiates its system design according to the differentiated characteristics of the prefill and decoding phases. For prefill phase, Jupiter submits a novel intra-sequence pipeline parallelism and develops a meticulous parallelism planning strategy to maximize resource efficiency; For decoding, Jupiter devises an effective outline-based pipeline parallel decoding mechanism combined with speculative decoding, which further magnifies inference acceleration. Extensive evaluation based on realistic implementation demonstrates that Jupiter remarkably outperforms state-of-the-art approaches under various edge environment setups, achieving up to 26.1x end-to-end latency reduction while rendering on-par generation quality.
CICV5G: A 5G Communication Delay Dataset for PnC in Cloud-based Intelligent Connected Vehicles
Venue: arXiv cs.NI 2025
Year: 2025

Cloud-based intelligent connected vehicles (CICVs) leverage cloud computing and vehicle-to-everything (V2X) to enable efficient information exchange and cooperative control. However, communication delay is a critical factor in vehicle-cloud interactions, potentially deteriorating the planning and control (PnC) performance of CICVs. To explore whether the new generation of communication technology, 5G, can support the PnC of CICVs, we present CICV5G, a publicly available 5G communication delay dataset for the PnC of CICVs. This dataset offers real-time delay variations across diverse traffic environments, velocity, data transmission frequencies, and network conditions. It contains over 300,000 records, with each record consists of the network performance indicators (e.g., cell ID, reference signal received power, and signal-to-noise ratio) and PnC related data (e.g., position). Based on the CICV5G, we compare the performance of CICVs with that of autonomous vehicles and examine how delay impacts the PnC of CICVs. The object of this dataset is to support research in developing more accurate communication models and to provide a valuable reference for scheme development and network deployment for CICVs. To ensure that the research community can benefit from this work, our dataset and accompanying code are made publicly available.
Generalized Multilingual Text-to-Speech Generation with Language-Aware Style Adaptation
Venue: arXiv cs.SD 2025
Year: 2025

Text-to-Speech (TTS) models can generate natural, human-like speech across multiple languages by transforming phonemes into waveforms. However, multilingual TTS remains challenging due to discrepancies in phoneme vocabularies and variations in prosody and speaking style across languages. Existing approaches either train separate models for each language, which achieve high performance at the cost of increased computational resources, or use a unified model for multiple languages that struggles to capture fine-grained, language-specific style variations. In this work, we propose LanStyleTTS, a non-autoregressive, language-aware style adaptive TTS framework that standardizes phoneme representations and enables fine-grained, phoneme-level style control across languages. This design supports a unified multilingual TTS model capable of producing accurate and high-quality speech without the need to train language-specific models. We evaluate LanStyleTTS by integrating it with several state-of-the-art non-autoregressive TTS architectures. Results show consistent performance improvements across different model backbones. Furthermore, we investigate a range of acoustic feature representations, including mel-spectrograms and autoencoder-derived latent features. Our experiments demonstrate that latent encodings can significantly reduce model size and computational cost while preserving high-quality speech generation.
ELSA: A Style Aligned Dataset for Emotionally Intelligent Language Generation
Venue: arXiv cs.CL 2025
Year: 2025

Advancements in emotion aware language processing increasingly shape vital NLP applications ranging from conversational AI and affective computing to computational psychology and creative content generation. Existing emotion datasets either lack emotional granularity or fail to capture necessary stylistic diversity, limiting the advancement of effective emotion conditioned text generation systems. Seeking to bridge this crucial gap between granularity and style diversity, this paper introduces a novel systematically constructed dataset named ELSA Emotion and Language Style Alignment Dataset leveraging fine grained emotion taxonomies adapted from existing sources such as dair ai emotion dataset and GoEmotions taxonomy. This dataset comprises multiple emotionally nuanced variations of original sentences regenerated across distinct contextual styles such as conversational, formal, poetic, and narrative, using advanced Large Language Models LLMs. Rigorous computational evaluation using metrics such as perplexity, embedding variance, readability, lexical diversity, and semantic coherence measures validates the datasets emotional authenticity, linguistic fluency, and textual diversity. Comprehensive metric analyses affirm its potential to support deeper explorations into emotion conditioned style adaptive text generation. By enabling precision tuned emotionally nuanced language modeling, our dataset creates fertile ground for research on fine grained emotional control, prompt driven explanation, interpretability, and style adaptive expressive language generation with LLMs.
Analyzing the Landscape of the Indicator-based Subset Selection Problem
Venue: arXiv cs.NE 2025
Year: 2025

The indicator-based subset selection problem (ISSP) involves finding a point subset that minimizes or maximizes a quality indicator. The ISSP is frequently found in evolutionary multi-objective optimization (EMO). An in-depth understanding of the landscape of the ISSP could be helpful in developing efficient subset selection methods and explaining their performance. However, the landscape of the ISSP is poorly understood. To address this issue, this paper analyzes the landscape of the ISSP by using various traditional landscape analysis measures and exact local optima networks (LONs). This paper mainly investigates how the landscape of the ISSP is influenced by the choice of a quality indicator and the shape of the Pareto front. Our findings provide insightful information about the ISSP. For example, high neutrality and many local optima are observed in the results for ISSP instances with the additive $ε$-indicator.